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ekf: requires kinematically consistent range finder data to continue terrain aiding

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bresch
2022-04-13 11:41:48 +02:00
committed by Mathieu Bresciani
parent 78211f9dbb
commit 9fc331b7ea
1 changed files with 2 additions and 2 deletions
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src/modules/ekf2/EKF/terrain_estimator.cpp
+2 -2
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@@ -95,9 +95,9 @@ void Ekf::controlHaglRngFusion()
} }
if (_range_sensor.isDataHealthy()) { if (_range_sensor.isDataHealthy()) {
const bool continuing_conditions_passing = _control_status.flags.in_air; const bool continuing_conditions_passing = _control_status.flags.in_air && _rng_consistency_check.isKinematicallyConsistent();
//const bool continuing_conditions_passing = _control_status.flags.in_air && !_control_status.flags.rng_hgt; // TODO: should not be fused when using range height //const bool continuing_conditions_passing = _control_status.flags.in_air && !_control_status.flags.rng_hgt; // TODO: should not be fused when using range height
const bool starting_conditions_passing = continuing_conditions_passing && _range_sensor.isRegularlySendingData(); const bool starting_conditions_passing = continuing_conditions_passing && _range_sensor.isRegularlySendingData() && (_rng_consistency_check.getTestRatio() < 1.f);
_time_last_healthy_rng_data = _time_last_imu; _time_last_healthy_rng_data = _time_last_imu;